/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/


#ifndef VIEWER_H
#define VIEWER_H

#include "FrameDrawer.h"
#include "MapDrawer.h"
#include "Tracking.h"
#include "System.h"
#include <unistd.h>

#include <mutex>

namespace ORB_SLAM2
{

  class Tracking;
  class FrameDrawer;
  class MapDrawer;
  class System;

  class Viewer
  {
    public:
      Viewer(System *pSystem,
             FrameDrawer *pFrameDrawer,
             MapDrawer *pMapDrawer,
             Tracking *pTracking,
             const string& strSettingPath);

      // Main thread function. Draw points, keyframes, the current camera pose and the last processed
      // frame. Drawing is refreshed according to the camera fps. We use Pangolin.
      void Run();

      void RequestFinish();

      void RequestStop();

      bool isFinished();

      bool isStopped();

      void Release();


      void StartRecording()
      {
        mRecord = true;
      }
      void StopRecording()
      {
        mRecord = false;
      }

      void Continue()
      {
        if(mSingleStep)
        {
          while(!mContinue)
          {
            usleep(100);
          }
          mContinue = false;
        }
      }

    private:

      bool Stop();

      System      *mpSystem;
      FrameDrawer *mpFrameDrawer;
      MapDrawer   *mpMapDrawer;
      Tracking    *mpTracker;

      bool mContinue   = true;
      bool mSingleStep = false;
      bool mRecord     = false;

      // 1/fps in ms
      double mT;
      float  mImageWidth, mImageHeight;

      float      mViewpointX, mViewpointY, mViewpointZ, mViewpointF;

      bool CheckFinish();
      void SetFinish();
      bool       mbFinishRequested;
      bool       mbFinished;
      std::mutex mMutexFinish;

      bool       mbStopped;
      bool       mbStopRequested;
      std::mutex mMutexStop;

  };

}


#endif // VIEWER_H
	

